diff --git a/sw/airborne/booz/test/booz2_test_mc.c b/sw/airborne/booz/test/booz2_test_mc.c
new file mode 100644
index 0000000000..7670d34c10
--- /dev/null
+++ b/sw/airborne/booz/test/booz2_test_mc.c
@@ -0,0 +1,58 @@
+#include <inttypes.h>
+
+#include "init_hw.h"
+#include "sys_time.h"
+#include "led.h"
+#include "interrupt_hw.h"
+#include "uart.h"
+
+#include "messages.h"
+#include "downlink.h"
+
+#include "commands.h"
+#include "i2c.h"
+#include "actuators.h"
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+uint32_t t0, t1, diff;
+
+int main( void ) {
+  main_init();
+  while(1) {
+    if (sys_time_periodic())
+      main_periodic_task();
+    main_event_task();
+  }
+  return 0;
+}
+
+static inline void main_init( void ) {
+  hw_init();
+  sys_time_init();
+  led_init();
+  uart1_init_tx();
+
+  i2c_init();
+  actuators_init();
+
+  int_enable();
+}
+
+static inline void main_periodic_task( void ) {
+  RunOnceEvery(50, {LED_TOGGLE(2); DOWNLINK_SEND_TIME(&cpu_time_sec);});
+
+  Actuator(SERVO_FRONT) = 20;				      
+  Actuator(SERVO_BACK)  = 20;				      
+  Actuator(SERVO_RIGHT) = 20;				      
+  Actuator(SERVO_LEFT)  = 20;				      
+  ActuatorsCommit();					      
+
+}
+
+static inline void main_event_task( void ) {
+
+}
+